/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */

#ifndef SPARSE_MAPPING_LOCALIZATION_PARAMETERS_H_
#define SPARSE_MAPPING_LOCALIZATION_PARAMETERS_H_

namespace sparse_mapping {
struct LocalizationParameters {
  int num_similar;
  double min_query_score_ratio;
  int ransac_inlier_tolerance;
  int num_ransac_iterations;
  int early_break_landmarks;
  int histogram_equalization;
  bool check_essential_matrix;
  int essential_ransac_iterations;
  bool add_similar_images;
  bool add_best_previous_image;
  int hamming_distance;
  double goodness_ratio;
  bool use_clahe;
  int num_extra_localization_db_images;
  bool verbose_localization;
  bool visualize_localization_matches;
};
}  // namespace sparse_mapping

#endif  // SPARSE_MAPPING_LOCALIZATION_PARAMETERS_H_
